BodyBalanceEvaluation/backend/device_manager.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
设备管理模块
负责摄像头、IMU传感器和压力传感器的连接和数据采集
以及视频推流功能
"""

import cv2
import numpy as np
import time
import threading
import json
import queue
import base64
import gc
import os
import psutil
import configparser
from datetime import datetime
from pathlib import Path
from typing import Dict, List, Optional, Any, Tuple
from concurrent.futures import ThreadPoolExecutor
import logging

# 数据库管理
# from backend.app import get_detection_sessions
from database import DatabaseManager

# FemtoBolt深度相机支持
try:
    import pykinect_azure as pykinect
    # 重新启用FemtoBolt功能，使用正确的Orbbec SDK K4A Wrapper路径
    FEMTOBOLT_AVAILABLE = False
    print("信息: pykinect_azure库已安装，FemtoBolt深度相机功能已启用")
    print("使用Orbbec SDK K4A Wrapper以确保与FemtoBolt设备的兼容性")
except ImportError:
    FEMTOBOLT_AVAILABLE = False
    print("警告: pykinect_azure库未安装，FemtoBolt深度相机功能将不可用")
    print("请使用以下命令安装: pip install pykinect_azure")

logger = logging.getLogger(__name__)

class DeviceManager:
    """设备管理器"""
    
    def __init__(self, db_manager: DatabaseManager = None):
        self.camera = None
        self.femtobolt_camera = None
        self.imu_device = None
        self.pressure_device = None
        self.device_status = {
            'camera': False,
            'femtobolt': False,
            'imu': False,
            'pressure': False
        }
        self.calibration_data = {}
        self.data_lock = threading.Lock()
        self.latest_data = {}
        
        # 数据库连接
        self.db_manager = db_manager
        
        # 推流状态和线程
        self.camera_streaming = False
        self.femtobolt_streaming = False
        self.camera_streaming_thread = None
        self.femtobolt_streaming_thread = None
        self.streaming_stop_event = threading.Event()
        
        # 同步录制状态
        self.sync_recording = False
        self.current_session_id = None
        self.current_patient_id = None
        self.recording_start_time = None
        
        # 三路视频录制器
        self.feet_video_writer = None
        self.body_video_writer = None
        self.screen_video_writer = None
        
        # 录制线程和控制
        self.feet_recording_thread = None
        self.body_recording_thread = None
        self.screen_recording_thread = None
        self.recording_stop_event = threading.Event()
        
        # 屏幕录制队列
        self.screen_frame_queue = queue.Queue(maxsize=100)
        
        # 兼容旧版录制状态
        self.recording = False
        self.video_writer = None
        
        # FemtoBolt相机相关
        self.femtobolt_config = None
        self.femtobolt_recording = False
        self.femtobolt_color_writer = None
        self.femtobolt_depth_writer = None
        
        # WebSocket连接（用于推流）
        self.socketio = None
        
        # 初始化设备
        self._init_devices()
    
    def _init_devices(self):
        """初始化所有设备"""
        try:
            self._init_camera()
            self._init_femtobolt_camera()
            self._init_imu()
            self._init_pressure_sensor()
            logger.info('设备初始化完成')
        except Exception as e:
            logger.error(f'设备初始化失败: {e}')
    
    def _init_camera(self):
        """初始化足部监视摄像头"""
        try:
            # 从数据库读取摄像头设备索引配置
            device_index = 0  # 默认值
            if self.db_manager:
                try:
                    monitor_config = self.db_manager.get_system_setting('monitor_device_index')
                    if monitor_config:
                        device_index = int(monitor_config)
                        logger.info(f'从数据库读取摄像头设备索引: {device_index}')
                    else:
                        logger.info('数据库中未找到monitor_device_index配置，使用默认值0')
                except Exception as e:
                    logger.warning(f'读取摄像头设备索引配置失败，使用默认值0: {e}')
            else:
                logger.warning('数据库管理器未初始化，使用默认摄像头索引0')
            
            # 尝试连接指定索引的摄像头
            self.camera = cv2.VideoCapture(device_index)
            if self.camera.isOpened():
                # 设置摄像头参数
                self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
                self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
                self.camera.set(cv2.CAP_PROP_FPS, 30)
                
                self.device_status['camera'] = True
                logger.info(f'摄像头初始化成功，设备索引: {device_index}')
            else:
                logger.warning(f'摄像头连接失败，设备索引: {device_index}')
                self.camera = None
        except Exception as e:
            logger.error(f'摄像头初始化异常: {e}')
            self.camera = None
    
    def _init_femtobolt_camera(self):
        """初始化FemtoBolt深度相机"""
        if not FEMTOBOLT_AVAILABLE:
            logger.warning('FemtoBolt深度相机库未安装，跳过初始化')
            self.femtobolt_camera = None
            self.device_status['femtobolt'] = False
            return
        
        try:
            # 初始化pykinect_azure库（优先使用指定SDK路径）
            sdk_initialized = False
            
            # 首先尝试手动指定路径（优先级最高）
            sdk_paths = self._get_femtobolt_sdk_paths()
            for sdk_path in sdk_paths:
                if os.path.exists(sdk_path):
                    try:
                        logger.info(f'尝试使用FemtoBolt SDK路径: {sdk_path}')
                        pykinect.initialize_libraries(track_body=False, module_k4a_path=sdk_path)
                        logger.info(f'✓ 成功使用FemtoBolt SDK: {sdk_path}')
                        sdk_initialized = True
                        break
                    except Exception as e:
                        logger.warning(f'✗ FemtoBolt SDK路径失败: {sdk_path} - {e}')
                        continue
            
            # 如果手动指定路径失败，尝试自动检测
            if not sdk_initialized:
                try:
                    logger.info('尝试自动检测FemtoBolt SDK...')
                    pykinect.initialize_libraries(track_body=False)
                    logger.info('✓ 自动检测FemtoBolt SDK成功')
                    sdk_initialized = True
                except Exception as e:
                    logger.warning(f'✗ 自动检测失败: {e}')
            
            if not sdk_initialized:
                logger.warning('无法初始化FemtoBolt深度相机SDK，功能将不可用')
                self.femtobolt_camera = None
                self.device_status['femtobolt'] = False
                return
            
            # 配置FemtoBolt设备参数
            self.femtobolt_config = pykinect.default_configuration
            logger.info('FemtoBolt配置参数。。。。。。。。。。。。。。。。。')
            logger.warning(pykinect.default_configuration)
            # 从config.ini读取配置
            import configparser
            config = configparser.ConfigParser()
            config.read(os.path.join(os.path.dirname(__file__), '..', 'config.ini'))
            color_res_str = config.get('DEFAULT', 'femtobolt_color_resolution', fallback='1080P')
            depth_range_min = config.getint('DEFAULT', 'femtobolt_depth_range_min', fallback=500)
            depth_range_max = config.getint('DEFAULT', 'femtobolt_depth_range_max', fallback=4500)

            # 解析分辨率配置，分为宽度和高度
            resolution_map = {
                '1024x1024': (1024, 1024),
                '1920x1080': (1920, 1080),
                '1280x720': (1280, 720),
                '720x720': (720, 720)
            }
            width, height = resolution_map.get(color_res_str, (1920, 1080))
            # 假设SDK支持设置宽高参数，示例代码如下（需根据实际SDK调整）
            if hasattr(self.femtobolt_config, 'color_resolution_width') and hasattr(self.femtobolt_config, 'color_resolution_height'):
                self.femtobolt_config.color_resolution_width = width
                self.femtobolt_config.color_resolution_height = height
            else:
                logger.info('FemtoBolt存在分辨率参数。。。。。。。。。。。。。。。。。')
                # 兼容原有枚举设置
                if color_res_str == '720P':
                    self.femtobolt_config.color_resolution = pykinect.K4A_COLOR_RESOLUTION_720P
                elif color_res_str == '1080P':
                    self.femtobolt_config.color_resolution = pykinect.K4A_COLOR_RESOLUTION_1080P
                else:
                    self.femtobolt_config.color_resolution = pykinect.K4A_COLOR_RESOLUTION_1080P

            # self.femtobolt_config.depth_mode = pykinect.K4A_DEPTH_MODE_WFOV_2X2BINNED
            self.femtobolt_config.depth_mode = pykinect.K4A_DEPTH_MODE_NFOV_UNBINNED
            self.femtobolt_config.camera_fps = pykinect.K4A_FRAMES_PER_SECOND_30
            self.femtobolt_config.synchronized_images_only = True
            # 视效范围参数示例，假设SDK支持depth_range_min和depth_range_max
            
            # 直接尝试启动设备（pykinect_azure库没有设备数量检测API）
            logger.info('准备启动FemtoBolt设备...')
            
            # 启动FemtoBolt设备
            logger.info('尝试启动FemtoBolt设备...')
            self.femtobolt_camera = pykinect.start_device(config=self.femtobolt_config)
            if self.femtobolt_camera:
                self.device_status['femtobolt'] = True
                logger.info('✓ FemtoBolt深度相机初始化成功!')
            else:
                raise Exception('设备启动返回None')
            
        except Exception as e:
            logger.warning(f'FemtoBolt深度相机初始化失败: {e}')
            logger.warning('FemtoBolt深度相机功能将不可用，但不影响其他功能')
            logger.warning('可能的解决方案:')
            logger.warning('1. 检查FemtoBolt设备是否正确连接并被识别')
            logger.warning('2. 安装Orbbec官方的K4A兼容驱动程序')
            logger.warning('3. 确保没有其他应用程序占用设备')
            logger.warning('4. 尝试重新插拔设备或重启计算机')
            logger.warning('5. 考虑使用Orbbec原生SDK而非Azure Kinect SDK')
            self.femtobolt_camera = None
            self.device_status['femtobolt'] = False
            # 不再抛出异常，让系统继续运行其他功能
    
    def _get_femtobolt_sdk_paths(self) -> List[str]:
        """获取FemtoBolt SDK可能的路径列表"""
        import platform
        
        sdk_paths = []
        
        if platform.system() == "Windows":
            # 优先使用Orbbec SDK K4A Wrapper（与azure_kinect_image_example.py一致）
            base_dir = os.path.dirname(os.path.abspath(__file__))
            dll_path = os.path.join(base_dir, "dll", "bin", "k4a.dll")
            orbbec_paths = []
            if os.path.exists(dll_path):
               orbbec_paths.append(dll_path)
            # orbbec_paths = [
            #     r"D:\BodyBalanceEvaluation\backend\dll\bin\k4a.dll",
            # ]
            # Azure Kinect SDK标准安装路径（备用）
            standard_paths = [
                r"C:\Program Files\Azure Kinect SDK v1.4.1\sdk\windows-desktop\amd64\release\bin\k4a.dll",
                r"C:\Program Files\Azure Kinect SDK v1.4.0\sdk\windows-desktop\amd64\release\bin\k4a.dll",
                r"C:\Program Files\Azure Kinect SDK v1.4.2\sdk\windows-desktop\amd64\release\bin\k4a.dll",
            ]
            
            # 优先检查Orbbec路径
            for path in orbbec_paths:
                if os.path.exists(path):
                    sdk_paths.append(path)
            
            # 然后检查标准路径
            for path in standard_paths:
                if os.path.exists(path):
                    sdk_paths.append(path)
        
        # 项目内的dll目录
        project_dll_path = os.path.join(os.path.dirname(__file__), "dll", "k4a.dll")
        if os.path.exists(project_dll_path):
            sdk_paths.append(project_dll_path)
        
        return sdk_paths
    
    def _init_imu(self):
        """初始化IMU传感器"""
        try:
            # 这里应该连接实际的IMU设备
            # 目前使用模拟数据
            self.imu_device = MockIMUDevice()
            self.device_status['imu'] = True
            logger.info('IMU传感器初始化成功（模拟）')
        except Exception as e:
            logger.error(f'IMU传感器初始化失败: {e}')
            self.imu_device = None
    
    def _init_pressure_sensor(self):
        """初始化压力传感器"""
        try:
            # 这里应该连接实际的压力传感器
            # 目前使用模拟数据
            self.pressure_device = MockPressureDevice()
            self.device_status['pressure'] = True
            logger.info('压力传感器初始化成功（模拟）')
        except Exception as e:
            logger.error(f'压力传感器初始化失败: {e}')
            self.pressure_device = None
    
    def get_device_status(self) -> Dict[str, bool]:
        """获取设备状态"""
        return self.device_status.copy()
    
    def get_connected_devices(self) -> List[str]:
        """获取已连接的设备列表"""
        return [device for device, status in self.device_status.items() if status]
    
    def refresh_devices(self):
        """刷新设备连接"""
        logger.info('刷新设备连接...')
        
        # 重新初始化所有设备
        if self.camera:
            self.camera.release()
        
        self._init_devices()
    
    def calibrate_devices(self) -> Dict[str, Any]:
        """校准设备"""
        calibration_result = {}
        
        try:
            # 摄像头校准
            if self.device_status['camera']:
                camera_calibration = self._calibrate_camera()
                calibration_result['camera'] = camera_calibration
            
            # IMU校准
            if self.device_status['imu']:
                imu_calibration = self._calibrate_imu()
                calibration_result['imu'] = imu_calibration
            
            # 压力传感器校准
            if self.device_status['pressure']:
                pressure_calibration = self._calibrate_pressure()
                calibration_result['pressure'] = pressure_calibration
            
            self.calibration_data = calibration_result
            logger.info('设备校准完成')
            
        except Exception as e:
            logger.error(f'设备校准失败: {e}')
            raise
        
        return calibration_result
    
    def _calibrate_camera(self) -> Dict[str, Any]:
        """校准摄像头"""
        if not self.camera or not self.camera.isOpened():
            return {'status': 'failed', 'error': '摄像头未连接'}
        
        try:
            # 获取几帧图像进行校准
            frames = []
            for _ in range(10):
                ret, frame = self.camera.read()
                if ret:
                    frames.append(frame)
                time.sleep(0.1)
            
            if not frames:
                return {'status': 'failed', 'error': '无法获取图像'}
            
            # 计算平均亮度和对比度
            avg_brightness = np.mean([np.mean(cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)) for frame in frames])
            
            calibration = {
                'status': 'success',
                'brightness': float(avg_brightness),
                'resolution': (int(self.camera.get(cv2.CAP_PROP_FRAME_WIDTH)), 
                              int(self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT))),
                'fps': float(self.camera.get(cv2.CAP_PROP_FPS)),
                'timestamp': datetime.now().isoformat()
            }
            
            return calibration
            
        except Exception as e:
            return {'status': 'failed', 'error': str(e)}
    
    def _calibrate_imu(self) -> Dict[str, Any]:
        """校准IMU传感器"""
        if not self.imu_device:
            return {'status': 'failed', 'error': 'IMU设备未连接'}
        
        try:
            # 收集静态数据进行零点校准
            samples = []
            for _ in range(100):
                data = self.imu_device.read_data()
                samples.append(data)
                time.sleep(0.01)
            
            # 计算零点偏移
            accel_offset = {
                'x': np.mean([s['accel']['x'] for s in samples]),
                'y': np.mean([s['accel']['y'] for s in samples]),
                'z': np.mean([s['accel']['z'] for s in samples]) - 9.8  # 重力补偿
            }
            
            gyro_offset = {
                'x': np.mean([s['gyro']['x'] for s in samples]),
                'y': np.mean([s['gyro']['y'] for s in samples]),
                'z': np.mean([s['gyro']['z'] for s in samples])
            }
            
            calibration = {
                'status': 'success',
                'accel_offset': accel_offset,
                'gyro_offset': gyro_offset,
                'timestamp': datetime.now().isoformat()
            }
            
            return calibration
            
        except Exception as e:
            return {'status': 'failed', 'error': str(e)}
    
    def _calibrate_pressure(self) -> Dict[str, Any]:
        """校准压力传感器"""
        if not self.pressure_device:
            return {'status': 'failed', 'error': '压力传感器未连接'}
        
        try:
            # 收集零压力数据
            samples = []
            for _ in range(50):
                data = self.pressure_device.read_data()
                samples.append(data)
                time.sleep(0.02)
            
            # 计算零点偏移
            zero_offset = {
                'left_foot': np.mean([s['left_foot'] for s in samples]),
                'right_foot': np.mean([s['right_foot'] for s in samples])
            }
            
            calibration = {
                'status': 'success',
                'zero_offset': zero_offset,
                'timestamp': datetime.now().isoformat()
            }
            
            return calibration
            
        except Exception as e:
            return {'status': 'failed', 'error': str(e)}
    
    def collect_data(self, session_id: str, patient_id: str, screen_image_base64: str = None) -> Dict[str, Any]:
        """采集所有设备数据并保存到指定目录结构
        
        Args:
            session_id: 检测会话ID
            patient_id: 患者ID
            screen_image_base64: 前端界面截图的base64数据
            
        Returns:
            Dict: 包含所有采集数据的字典，符合detection_data表结构
        """
        # 生成采集时间戳
        timestamp = datetime.now().strftime('%Y%m%d_%H%M%S_%f')[:-3]  # 精确到毫秒
        
        # 创建数据存储目录
        data_dir = Path(f'data/patients/{patient_id}/{session_id}/{timestamp}')
        data_dir.mkdir(parents=True, exist_ok=True)
        
        # 初始化数据字典
        data = {
            'session_id': session_id,
            'head_pose': None,
            'body_pose': None,
            'body_image': None,
            'foot_data': None,
            'foot_image': None,
            'foot_data_image': None,
            'screen_image': None,
            'timestamp': timestamp
        }
        
        try:
            # # 1. 采集头部姿态数据（从IMU设备获取）
            # if self.device_status['imu']:
            #     head_pose_data = self._collect_head_pose_data()
            #     if head_pose_data:
            #         data['head_pose'] = json.dumps(head_pose_data)
            #         logger.debug(f'头部姿态数据采集成功: {session_id}')
            
            # # 2. 采集身体姿态数据（从FemtoBolt深度相机获取）
            # if self.device_status['femtobolt']:
            #     body_pose_data = self._collect_body_pose_data()
            #     if body_pose_data:
            #         data['body_pose'] = json.dumps(body_pose_data)
            #         logger.debug(f'身体姿态数据采集成功: {session_id}')
            
            # # 3. 采集身体视频截图（从FemtoBolt深度相机获取）
            # if self.device_status['femtobolt']:
            #     body_image_path = self._capture_body_image(data_dir)
            #     if body_image_path:
            #         data['body_image'] = str(body_image_path)
            #         logger.debug(f'身体截图保存成功: {body_image_path}')
            
            # # 4. 采集足部压力数据（从压力传感器获取）
            # if self.device_status['pressure']:
            #     foot_data = self._collect_foot_pressure_data()
            #     if foot_data:
            #         data['foot_data'] = json.dumps(foot_data)
            #         logger.debug(f'足部压力数据采集成功: {session_id}')
            
            # # 5. 采集足部监测视频截图（从摄像头获取）
            # if self.device_status['camera']:
            #     foot_image_path = self._capture_foot_image(data_dir)
            #     if foot_image_path:
            #         data['foot_image'] = str(foot_image_path)
            #         logger.debug(f'足部截图保存成功: {foot_image_path}')
            
            # # 6. 生成足底压力数据图（从压力传感器数据生成）
            # if self.device_status['pressure']:
            #     foot_data_image_path = self._generate_foot_pressure_image(data_dir)
            #     if foot_data_image_path:
            #         data['foot_data_image'] = str(foot_data_image_path)
            #         logger.debug(f'足底压力数据图生成成功: {foot_data_image_path}')
            
            # 7. 保存屏幕录制截图（从前端传入的base64数据）
            if screen_image_base64:
                try:
                    logger.debug(f'屏幕截图保存.................{screen_image_base64}')
                    # 保存屏幕截图的base64数据为图片文件
                    screen_image_path = None
                    if screen_image_base64:
                        try:
                            if screen_image_base64.startswith('data:image/'):
                                base64_data = screen_image_base64.split(',')[1]
                            else:
                                base64_data = screen_image_base64
                            image_data = base64.b64decode(base64_data)
                            image_path = data_dir / 'screen_image.png'
                            with open(image_path, 'wb') as f:
                                f.write(image_data)
                            abs_image_path = image_path.resolve()
                            abs_cwd = Path.cwd().resolve()
                            screen_image_path = str(abs_image_path.relative_to(abs_cwd))
                            logger.debug(f'屏幕截图保存成功: {screen_image_path}')
                        except Exception as e:
                            logger.error(f'屏幕截图保存失败: {e}')
                            import traceback
                            logger.error(traceback.format_exc())
                    
                    if screen_image_path:
                        data['screen_image'] = str(screen_image_path)
                        logger.debug(f'屏幕截图保存成功: {screen_image_path}')
                except Exception as e:
                    logger.error(f'屏幕截图保存失败: {e}')
                    import traceback
                    logger.error(traceback.format_exc())
            
            # 更新最新数据
            with self.data_lock:
                self.latest_data = data.copy()
            
            logger.debug(f'数据采集完成: {session_id}, 时间戳: {timestamp}')
            
        except Exception as e:
            logger.error(f'数据采集失败: {e}')
        
        return data
    
     
    def start_video_recording(self, output_path: str) -> bool:
        """开始视频录制"""
        if not self.camera or not self.camera.isOpened():
            return False
        
        try:
            # 获取摄像头参数
            width = int(self.camera.get(cv2.CAP_PROP_FRAME_WIDTH))
            height = int(self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT))
            fps = int(self.camera.get(cv2.CAP_PROP_FPS))
            
            # 创建视频写入器
            fourcc = cv2.VideoWriter_fourcc(*'mp4v')
            self.video_writer = cv2.VideoWriter(output_path, fourcc, fps, (width, height))
            
            if self.video_writer.isOpened():
                self.recording = True
                logger.info(f'开始视频录制: {output_path}')
                return True
            else:
                logger.error('视频写入器创建失败')
                return False
                
        except Exception as e:
            logger.error(f'开始视频录制失败: {e}')
            return False
    
    def stop_video_recording(self):
        """停止视频录制"""
        if hasattr(self, 'video_writer') and self.video_writer:
            self.video_writer.release()
            self.video_writer = None
            self.recording = False
            logger.info('视频录制已停止')
    
   
    
    def start_femtobolt_recording(self, filename=None):
        """开始FemtoBolt深度相机录制"""
        if not FEMTOBOLT_AVAILABLE or self.femtobolt_camera is None:
            logger.error('FemtoBolt深度相机未初始化，无法录制')
            return False
        
        try:
            if filename is None:
                timestamp = datetime.now().strftime('%Y%m%d_%H%M%S')
                filename = f'femtobolt_recording_{timestamp}'
            
            # 确保录制目录存在
            os.makedirs('recordings', exist_ok=True)
            
            # 创建彩色和深度视频文件路径
            color_filepath = os.path.join('recordings', f'{filename}_color.mp4')
            depth_filepath = os.path.join('recordings', f'{filename}_depth.mp4')
            
            # 设置视频参数（基于FemtoBolt配置）
            if self.femtobolt_config.color_resolution == pykinect.K4A_COLOR_RESOLUTION_1080P:
                width, height = 1920, 1080
            elif self.femtobolt_config.color_resolution == pykinect.K4A_COLOR_RESOLUTION_720P:
                width, height = 1280, 720
            else:
                width, height = 1920, 1080  # 默认
            
            fps = 30  # 默认30fps
            
            # 创建视频写入器
            fourcc = cv2.VideoWriter_fourcc(*'mp4v')
            self.femtobolt_color_writer = cv2.VideoWriter(color_filepath, fourcc, fps, (width, height))
            self.femtobolt_depth_writer = cv2.VideoWriter(depth_filepath, fourcc, fps, (width, height))
            
            if self.femtobolt_color_writer.isOpened() and self.femtobolt_depth_writer.isOpened():
                self.femtobolt_recording = True
                self.femtobolt_recording_filename = filename
                logger.info(f'开始FemtoBolt录制: {filename}')
                return True
            else:
                logger.error('FemtoBolt视频写入器创建失败')
                if self.femtobolt_color_writer:
                    self.femtobolt_color_writer.release()
                if self.femtobolt_depth_writer:
                    self.femtobolt_depth_writer.release()
                return False
                
        except Exception as e:
            logger.error(f'FemtoBolt开始录制失败: {e}')
            return False
    
    def stop_femtobolt_recording(self):
        """停止FemtoBolt深度相机录制"""
        if self.femtobolt_recording:
            self.femtobolt_recording = False
            
            if hasattr(self, 'femtobolt_color_writer') and self.femtobolt_color_writer:
                self.femtobolt_color_writer.release()
                self.femtobolt_color_writer = None
            
            if hasattr(self, 'femtobolt_depth_writer') and self.femtobolt_depth_writer:
                self.femtobolt_depth_writer.release()
                self.femtobolt_depth_writer = None
            
            logger.info('FemtoBolt视频录制已停止')
    
   
    
    def start_camera_stream(self):
        """开始摄像头推流"""
        if self.camera is None:
            logger.error('摄像头未初始化')
            return False
        
        try:
            self.camera_streaming = True
            logger.info('摄像头推流已开始')
            return True
        except Exception as e:
            logger.error(f'摄像头推流启动失败: {e}')
            return False
    
    def stop_camera_stream(self):
        """停止摄像头推流"""
        self.camera_streaming = False
        logger.info('摄像头推流已停止')
    
    def start_femtobolt_stream(self):
        """开始FemtoBolt深度相机推流"""
        if not FEMTOBOLT_AVAILABLE or self.femtobolt_camera is None:
            logger.error('FemtoBolt深度相机未初始化')
            return False
        
        try:
            # 检查是否已经在推流
            if self.femtobolt_streaming:
                logger.warning('FemtoBolt深度相机推流已在运行')
                return True
            
            # 重置停止事件
            self.streaming_stop_event.clear()
            
            # 设置推流标志
            self.femtobolt_streaming = True
            
            # 启动推流线程
            self.femtobolt_streaming_thread = threading.Thread(
                target=self._femtobolt_streaming_thread,
                daemon=True,
                name='FemtoBoltStreamingThread'
            )
            self.femtobolt_streaming_thread.start()
            
            logger.info('FemtoBolt深度相机推流已开始')
            return True
        except Exception as e:
            logger.error(f'FemtoBolt深度相机推流启动失败: {e}')
            self.femtobolt_streaming = False
            return False
    
    def stop_femtobolt_stream(self):
        """停止FemtoBolt深度相机推流"""
        self.femtobolt_streaming = False
        logger.debug('FemtoBolt深度相机推流已停止')    
    
    
    def record_femtobolt_frame(self, color_image, depth_image):
        """录制FemtoBolt帧到视频文件"""
        if not self.femtobolt_recording:
            return
        
        try:
            if hasattr(self, 'femtobolt_color_writer') and self.femtobolt_color_writer and color_image is not None:
                # 确保图像尺寸正确
                if color_image.shape[:2] != (1080, 1920):  # height, width
                    color_image = cv2.resize(color_image, (1920, 1080))
                self.femtobolt_color_writer.write(color_image)
            
            if hasattr(self, 'femtobolt_depth_writer') and self.femtobolt_depth_writer and depth_image is not None:
                # 将深度图像转换为3通道格式用于视频录制
                depth_normalized = cv2.normalize(depth_image, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
                depth_colored = cv2.applyColorMap(depth_normalized, cv2.COLORMAP_JET)
                
                # 确保图像尺寸正确
                if depth_colored.shape[:2] != (1080, 1920):  # height, width
                    depth_colored = cv2.resize(depth_colored, (1920, 1080))
                self.femtobolt_depth_writer.write(depth_colored)
                
        except Exception as e:
            logger.error(f'录制FemtoBolt帧失败: {e}')
    
    def set_socketio(self, socketio):
        """设置WebSocket连接用于推流"""
        self.socketio = socketio
    
    def start_streaming(self) -> Dict[str, bool]:
        """启动视频推流
        
        Returns:
            Dict: 推流启动状态
            {
                'camera_streaming': bool,
                'femtobolt_streaming': bool
            }
        """
        result = {
            'camera_streaming': False,
            'femtobolt_streaming': False
        }
        
        try:
            # 重置停止事件
            self.streaming_stop_event.clear()
            
            # 启动足部监视摄像头推流
            if self.device_status['camera'] and not self.camera_streaming:
                self.camera_streaming = True
                self.camera_streaming_thread = threading.Thread(
                    target=self._camera_streaming_thread,
                    daemon=True,
                    name='CameraStreamingThread'
                )
                self.camera_streaming_thread.start()
                result['camera_streaming'] = True
                logger.debug('足部监视摄像头推流已启动')
            
            # 启动FemtoBolt深度相机推流
            if self.device_status['femtobolt'] and not self.femtobolt_streaming:
                self.femtobolt_streaming = True
                self.femtobolt_streaming_thread = threading.Thread(
                    target=self._femtobolt_streaming_thread,
                    daemon=True,
                    name='FemtoBoltStreamingThread'
                )
                self.femtobolt_streaming_thread.start()
                result['femtobolt_streaming'] = True
                logger.debug('FemtoBolt深度相机推流已启动')
            
        except Exception as e:
            logger.warning(f'启动推流失败: {e}')
        
        return result
    
    def stop_streaming(self) -> bool:
        """停止所有视频推流
        
        Returns:
            bool: 停止操作是否成功
        """
        try:
            # 设置停止事件
            self.streaming_stop_event.set()
            
            # 停止摄像头推流
            if self.camera_streaming:
                self.camera_streaming = False
                if self.camera_streaming_thread and self.camera_streaming_thread.is_alive():
                    self.camera_streaming_thread.join(timeout=2)
                logger.debug('足部监视摄像头推流已停止')
            
            # 停止FemtoBolt推流
            if self.femtobolt_streaming:
                self.femtobolt_streaming = False
                if self.femtobolt_streaming_thread and self.femtobolt_streaming_thread.is_alive():
                    self.femtobolt_streaming_thread.join(timeout=2)
                logger.debug('FemtoBolt深度相机推流已停止')
            
            return True
            
        except Exception as e:
            logger.warning(f'停止推流失败: {e}')
            return False
    
    def _camera_streaming_thread(self):
        """足部监视摄像头推流线程"""
        frame_count = 0
        
        try:
            while self.camera_streaming and not self.streaming_stop_event.is_set():
                if self.camera and self.camera.isOpened():
                    ret, frame = self.camera.read()
                    if ret and self.socketio:
                        # 编码并推送帧
                        try:
                            # 调整帧大小以减少网络负载
                            height, width = frame.shape[:2]
                            if width > 640:
                                scale = 640 / width
                                new_width = 640
                                new_height = int(height * scale)
                                frame = cv2.resize(frame, (new_width, new_height))
                            
                            # JPEG编码
                            encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 80]
                            success, buffer = cv2.imencode('.jpg', frame, encode_param)
                            
                            if success:
                                jpg_as_text = base64.b64encode(buffer).decode('utf-8')
                                self.socketio.emit('video_frame', {
                                    'image': jpg_as_text,
                                    'frame_id': frame_count,
                                    'timestamp': time.time()
                                })
                                frame_count += 1
                        
                        except Exception as e:
                            logger.debug(f'摄像头帧推送失败: {e}')
                
                # 控制帧率
                # time.sleep(1/30)  # 30 FPS
                
        except Exception as e:
            logger.debug(f'摄像头推流线程异常: {e}')
        finally:
            self.camera_streaming = False
    
    def _femtobolt_streaming_thread(self):
        """FemtoBolt深度相机推流线程"""
        frame_count = 0
        
        try:
            while self.femtobolt_streaming and not self.streaming_stop_event.is_set():
                if self.femtobolt_camera and self.socketio:
                    try:
                        # 获取FemtoBolt帧
                        capture = self.femtobolt_camera.update()
                        
                        # 检查capture是否有效并获取彩色深度图像
                        if capture is not None:
                            ret, depth_image = capture.get_depth_image()
                            if ret and depth_image is not None:
                                # 读取config.ini中的深度范围配置
                                import configparser
                                config = configparser.ConfigParser()
                                config.read('config.ini')
                                try:
                                    depth_range_min = int(config.get('DEFAULT', 'femtobolt_depth_range_min', fallback='1400'))
                                    depth_range_max = int(config.get('DEFAULT', 'femtobolt_depth_range_max', fallback='1900'))
                                except Exception:
                                    depth_range_min = None
                                    depth_range_max = None

                                # 优化深度图彩色映射，范围外用黑色，区间内用Jet模型从蓝色到黄色到红色渐变
                                if depth_range_min is not None and depth_range_max is not None:
                                    # 归一化深度值到0-255范围
                                    depth_normalized = np.clip(depth_image, depth_range_min, depth_range_max)
                                    depth_normalized = ((depth_normalized - depth_range_min) / (depth_range_max - depth_range_min) * 255).astype(np.uint8)

                                    # 应用OpenCV的COLORMAP_JET进行伪彩色映射
                                    depth_colored = cv2.applyColorMap(depth_normalized, cv2.COLORMAP_JET)

                                    # 范围外用黑色
                                    mask_outside = (depth_image < depth_range_min) | (depth_image > depth_range_max)
                                    depth_colored[mask_outside] = [0, 0, 0]  # BGR黑色
                                else:
                                    # 如果没有配置，使用默认伪彩色映射
                                    depth_colored = cv2.convertScaleAbs(depth_image, alpha=0.03)
                                    depth_colored = cv2.applyColorMap(depth_colored, cv2.COLORMAP_JET)

                                # 转换颜色格式（如果需要）
                                if len(depth_colored.shape) == 3 and depth_colored.shape[2] == 4:
                                    depth_colored = cv2.cvtColor(depth_colored, cv2.COLOR_BGRA2BGR)
                                elif len(depth_colored.shape) == 3 and depth_colored.shape[2] == 3:
                                    pass

                                # 预处理：裁剪成宽460，高819，保持高度不裁剪，宽度从中间裁剪
                                height, width = depth_colored.shape[:2]
                                target_width = 460
                                target_height = 819

                                # 计算裁剪区域的纵向起点，保持高度不裁剪，纵向居中裁剪或上下填充（这里保持高度不裁剪，故不裁剪高度）
                                # 计算宽度裁剪起点
                                if width > target_width:
                                    left = (width - target_width) // 2
                                    right = left + target_width
                                    cropped_image = depth_colored[:, left:right]
                                else:
                                    cropped_image = depth_colored

                                # 如果高度不足target_height，进行上下填充黑边
                                cropped_height = cropped_image.shape[0]
                                if cropped_height < target_height:
                                    pad_top = (target_height - cropped_height) // 2
                                    pad_bottom = target_height - cropped_height - pad_top
                                    cropped_image = cv2.copyMakeBorder(cropped_image, pad_top, pad_bottom, 0, 0, cv2.BORDER_CONSTANT, value=[0,0,0])
                                elif cropped_height > target_height:
                                    # 如果高度超过target_height，裁剪高度中间部分
                                    top = (cropped_height - target_height) // 2
                                    cropped_image = cropped_image[top:top+target_height, :]

                                # 最终调整大小，保持宽460，高819
                                depth_colored = cv2.resize(cropped_image, (target_width, target_height))

                                # JPEG编码
                                encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 80]
                                success, buffer = cv2.imencode('.jpg', depth_colored, encode_param)

                                if success and self.socketio:
                                    jpg_as_text = base64.b64encode(buffer).decode('utf-8')
                                    self.socketio.emit('depth_camera_frame', {
                                        'image': jpg_as_text,
                                        'frame_id': frame_count,
                                        'timestamp': time.time()
                                    })
                                    frame_count += 1

                        else:
                            # 如果没有获取到有效帧，短暂等待后继续
                            time.sleep(0.01)
                    
                    except Exception as e:
                        logger.debug(f'FemtoBolt帧推送失败: {e}')
                        # 发生错误时短暂等待，避免快速循环
                        time.sleep(0.1)
                
                # 控制帧率
                time.sleep(1/30)  # 30 FPS
                
        except Exception as e:
            logger.debug(f'FemtoBolt推流线程异常: {e}')
        finally:
            self.femtobolt_streaming = False
    
    def start_recording(self, session_id: str, patient_id: str) -> Dict[str, Any]:
        """启动同步录制
        
        Args:
            session_id: 检测会话ID
            patient_id: 患者ID
            
        Returns:
            Dict: 录制启动状态和信息
            {
                'success': bool,
                'session_id': str,
                'patient_id': str,
                'recording_start_time': str,
                'video_paths': {
                    'feet_video': str,
                    'body_video': str,
                    'screen_video': str
                },
                'message': str
            }
        """
        result = {
            'success': False,
            'session_id': session_id,
            'patient_id': patient_id,
            'recording_start_time': None,
            'video_paths': {
                'feet_video': None,
                'body_video': None,
                'screen_video': None
            },
            'message': ''
        }
        
        try:
            # 检查是否已在录制
            if self.sync_recording:
                result['message'] = f'已在录制中，当前会话ID: {self.current_session_id}'
                return result
            
            # 设置录制参数
            self.current_session_id = session_id
            self.current_patient_id = patient_id
            self.recording_start_time = datetime.now()
            
            # 创建存储目录
            base_path = os.path.join('data', 'patients', patient_id, session_id)
            os.makedirs(base_path, exist_ok=True)
            
            # 定义视频文件路径
            feet_video_path = os.path.join(base_path, 'feet.mp4')
            body_video_path = os.path.join(base_path, 'body.mp4')
            screen_video_path = os.path.join(base_path, 'screen.mp4')
            
            result['video_paths']['feet_video'] = feet_video_path
            result['video_paths']['body_video'] = body_video_path
            result['video_paths']['screen_video'] = screen_video_path
            
            # 更新数据库中的视频路径
            if self.db_manager:
                try:
                    # 更新会话状态为录制中
                    self.db_manager.update_session_status(session_id, 'recording')
                    
                    # 更新视频文件路径
                    self.db_manager.update_session_normal_video_path(session_id, feet_video_path)
                    self.db_manager.update_session_femtobolt_video_path(session_id, body_video_path)
                    self.db_manager.update_session_screen_video_path(session_id, screen_video_path)
                    
                    logger.debug(f'数据库视频路径更新成功 - 会话ID: {session_id}')
                except Exception as db_error:
                    logger.error(f'更新数据库视频路径失败: {db_error}')
                    # 数据库更新失败不影响录制启动，继续执行
            
            # 视频编码参数
            fourcc = cv2.VideoWriter_fourcc(*'mp4v')
            fps = 30
            
            # 初始化视频写入器
            if self.device_status['camera']:
                # 获取摄像头分辨率
                if self.camera and self.camera.isOpened():
                    width = int(self.camera.get(cv2.CAP_PROP_FRAME_WIDTH))
                    height = int(self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT))
                    self.feet_video_writer = cv2.VideoWriter(
                        feet_video_path, fourcc, fps, (width, height)
                    )
            
            if self.device_status['femtobolt']:
                # FemtoBolt默认分辨率
                self.body_video_writer = cv2.VideoWriter(
                    body_video_path, fourcc, fps, (1280, 720)
                )
            
            # # 屏幕录制写入器（默认分辨率，后续根据实际帧调整）
            # self.screen_video_writer = cv2.VideoWriter(
            #     screen_video_path, fourcc, fps, (1920, 1080)
            # )
            
            # 重置停止事件
            self.recording_stop_event.clear()
            
            # 启动录制线程
            if self.feet_video_writer:
                self.feet_recording_thread = threading.Thread(
                    target=self._feet_recording_thread,
                    daemon=True,
                    name='FeetRecordingThread'
                )
                self.feet_recording_thread.start()
            
            if self.body_video_writer:
                self.body_recording_thread = threading.Thread(
                    target=self._body_recording_thread,
                    daemon=True,
                    name='BodyRecordingThread'
                )
                self.body_recording_thread.start()
            # #屏幕录制
            # if self.screen_video_writer:
            #     self.screen_recording_thread = threading.Thread(
            #         target=self._screen_recording_thread,
            #         daemon=True,
            #         name='ScreenRecordingThread'
            #     )
            #     self.screen_recording_thread.start()
            
            # 设置录制状态
            self.sync_recording = True
            result['success'] = True
            result['recording_start_time'] = self.recording_start_time.isoformat()
            result['message'] = '同步录制已启动'
            
            logger.debug(f'同步录制已启动 - 会话ID: {session_id}, 患者ID: {patient_id}')
            
        except Exception as e:
            logger.error(f'启动同步录制失败: {e}')
            result['message'] = f'启动录制失败: {str(e)}'
            # 清理已创建的写入器
            self._cleanup_video_writers()
        
        return result
    
    def stop_recording(self, session_id: str, video_data_base64: str = None) -> Dict[str, Any]:
        """停止同步录制
        
        Args:
            session_id: 检测会话ID
            video_data_base64: 屏幕录制视频的base64编码数据，可选
        
        Returns:
            Dict: 录制停止状态和信息
        """
        result = {
            'success': False,
            'session_id': session_id,
            'recording_duration': 0,
            'video_files': [],
            'message': ''
        }
        
        try:
            # 检查录制状态
            if not self.sync_recording:
                result['message'] = '当前没有进行录制'
                return result
            
            if self.current_session_id != session_id:
                result['message'] = f'会话ID不匹配，当前录制会话: {self.current_session_id}'
                return result
            
            # 设置停止事件
            self.recording_stop_event.set()
            session_data = self.db_manager.get_session_data(session_id)
            base_path = os.path.join('data', 'patients', session_data['patient_id'], session_id)
            
            # 定义视频文件路径
            feet_video_path = os.path.join(base_path, 'feet.mp4')
            body_video_path = os.path.join(base_path, 'body.mp4')
            screen_video_path = os.path.join(base_path, 'screen.mp4')
            
            # 等待录制线程结束
            threads_to_join = [
                (self.feet_recording_thread, 'feet'),
                (self.body_recording_thread, 'body')
            ]
            
            for thread, name in threads_to_join:
                if thread and thread.is_alive():
                    thread.join(timeout=3)
                    if thread.is_alive():
                        logger.debug(f'{name}录制线程未能正常结束')
            
            # 计算录制时长
            if self.recording_start_time:
                duration = (datetime.now() - self.recording_start_time).total_seconds()
                result['recording_duration'] = duration
            
            # 清理视频写入器并收集文件信息
            video_files = self._cleanup_video_writers()
            
            # 保存传入的屏幕录制视频数据，替代原有屏幕录制视频保存逻辑
            if video_data_base64:
                try:
                    video_bytes = base64.b64decode(video_data_base64)
                    with open(screen_video_path, 'wb') as f:
                        f.write(video_bytes)
                    video_files.append(screen_video_path)
                    logger.info(f'屏幕录制视频保存成功，路径: {screen_video_path}, 文件大小: {os.path.getsize(screen_video_path)} 字节')
                except Exception as e:
                    logger.error(f'保存屏幕录制视频失败: {e}', exc_info=True)
                    logger.debug(f'视频数据长度: {len(video_data_base64)}')
                    raise
            
            result['video_files'] = video_files
            
            # 更新数据库中的会话信息
            if self.db_manager and result['recording_duration'] > 0:
                try:
                    duration_seconds = int(result['recording_duration'])
                    self.db_manager.update_session_duration(session_id, duration_seconds)
                    self.db_manager.update_session_normal_video_path(session_id, feet_video_path)
                    self.db_manager.update_session_femtobolt_video_path(session_id, body_video_path)
                    self.db_manager.update_session_screen_video_path(session_id, screen_video_path)
                    self.db_manager.update_session_status(session_id, 'completed')
                    
                    logger.debug(f'数据库会话信息更新成功 - 会话ID: {session_id}, 持续时间: {duration_seconds}秒')
                except Exception as db_error:
                    logger.error(f'更新数据库会话信息失败: {db_error}')
            
            # 重置录制状态
            self.sync_recording = False
            self.current_session_id = None
            self.current_patient_id = None
            self.recording_start_time = None
            
            result['success'] = True
            result['message'] = '同步录制已停止'
            
            logger.debug(f'同步录制已停止 - 会话ID: {session_id}, 录制时长: {result["recording_duration"]:.2f}秒')
            
        except Exception as e:
            logger.error(f'停止同步录制失败: {e}', exc_info=True)
            result['message'] = f'停止录制失败: {str(e)}'
        
        return result
    
    def add_screen_frame(self, frame_data: str):
        """添加屏幕录制帧
        
        Args:
            frame_data: base64编码的屏幕截图数据
        """
        if self.sync_recording and not self.screen_frame_queue.full():
            try:
                self.screen_frame_queue.put(frame_data, block=False)
            except:
                # 队列满时丢弃帧
                pass
    
    def _feet_recording_thread(self):
        """足部视频录制线程"""
        try:
            while self.sync_recording and not self.recording_stop_event.is_set():
                if self.camera and self.camera.isOpened() and self.feet_video_writer:
                    ret, frame = self.camera.read()
                    if ret:
                        self.feet_video_writer.write(frame)
                
                time.sleep(1/30)  # 30 FPS
                
        except Exception as e:
            logger.error(f'足部录制线程异常: {e}')
    
    def _body_recording_thread(self):
        """身体视频录制线程"""
        try:
            while self.sync_recording and not self.recording_stop_event.is_set():
                if self.femtobolt_camera and self.body_video_writer:
                    try:
                        capture = self.femtobolt_camera.update()
                        if capture.color is not None:
                            # 转换颜色格式
                            color_image = capture.color
                            color_image = cv2.cvtColor(color_image, cv2.COLOR_BGRA2BGR)
                            
                            # 调整到录制分辨率
                            color_image = cv2.resize(color_image, (1280, 720))
                            self.body_video_writer.write(color_image)
                    
                    except Exception as e:
                        logger.error(f'FemtoBolt录制帧处理失败: {e}')
                
                time.sleep(1/30)  # 30 FPS
                
        except Exception as e:
            logger.error(f'身体录制线程异常: {e}')
    
    def _screen_recording_thread(self):
        """屏幕录制线程"""
        try:
            while self.sync_recording and not self.recording_stop_event.is_set():
                try:
                    # 从队列获取屏幕帧
                    frame_data = self.screen_frame_queue.get(timeout=1)
                    
                    # 解码base64图像
                    image_data = base64.b64decode(frame_data)
                    nparr = np.frombuffer(image_data, np.uint8)
                    frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
                    
                    if frame is not None and self.screen_video_writer:
                        # 调整到录制分辨率
                        frame = cv2.resize(frame, (1920, 1080))
                        self.screen_video_writer.write(frame)
                
                except queue.Empty:
                    continue
                except Exception as e:
                    logger.error(f'屏幕录制帧处理失败: {e}')
                
        except Exception as e:
            logger.error(f'屏幕录制线程异常: {e}')
    
    def _cleanup_video_writers(self) -> List[str]:
        """清理视频写入器并返回文件列表"""
        video_files = []
        
        try:
            if self.feet_video_writer:
                self.feet_video_writer.release()
                self.feet_video_writer = None
                if self.current_patient_id and self.current_session_id:
                    feet_path = os.path.join('data', 'patients', self.current_patient_id, 
                                           self.current_session_id, 'feet.mp4')
                    if os.path.exists(feet_path):
                        video_files.append(feet_path)
            
            if self.body_video_writer:
                self.body_video_writer.release()
                self.body_video_writer = None
                if self.current_patient_id and self.current_session_id:
                    body_path = os.path.join('data', 'patients', self.current_patient_id, 
                                           self.current_session_id, 'body.mp4')
                    if os.path.exists(body_path):
                        video_files.append(body_path)
            
            if self.screen_video_writer:
                self.screen_video_writer.release()
                self.screen_video_writer = None
                if self.current_patient_id and self.current_session_id:
                    screen_path = os.path.join('data', 'patients', self.current_patient_id, 
                                             self.current_session_id, 'screen.mp4')
                    if os.path.exists(screen_path):
                        video_files.append(screen_path)
        
        except Exception as e:
            logger.error(f'清理视频写入器失败: {e}')
        
        return video_files
    
    def cleanup(self):
        """清理资源"""
        try:
            # 停止推流
            self.stop_streaming()
            
            # 停止录制
            if self.sync_recording:
                self.stop_recording(self.current_session_id)
            
            if self.camera:
                self.camera.release()
            
            if hasattr(self, 'video_writer') and self.video_writer:
                self.video_writer.release()
            
            # 清理FemtoBolt录像写入器
            if hasattr(self, 'femtobolt_color_writer') and self.femtobolt_color_writer:
                self.femtobolt_color_writer.release()
            
            if hasattr(self, 'femtobolt_depth_writer') and self.femtobolt_depth_writer:
                self.femtobolt_depth_writer.release()
            
            # 清理同步录制写入器
            if self.feet_video_writer:
                self.feet_video_writer.release()
            if self.body_video_writer:
                self.body_video_writer.release()
            if self.screen_video_writer:
                self.screen_video_writer.release()
            
            if self.femtobolt_camera:
                self.femtobolt_camera = None
            
            logger.debug('设备资源已清理')
            
        except Exception as e:
            logger.error(f'清理设备资源失败: {e}')


class MockIMUDevice:
    """模拟IMU设备"""
    
    def __init__(self):
        self.noise_level = 0.1
    
    def read_data(self) -> Dict[str, Any]:
        """读取IMU数据"""
        return {
            'accel': {
                'x': np.random.normal(0, self.noise_level),
                'y': np.random.normal(0, self.noise_level),
                'z': np.random.normal(9.8, self.noise_level)  # 重力加速度
            },
            'gyro': {
                'x': np.random.normal(0, self.noise_level),
                'y': np.random.normal(0, self.noise_level),
                'z': np.random.normal(0, self.noise_level)
            },
            'temperature': np.random.normal(25, 2),
            'timestamp': datetime.now().isoformat()
        }


class MockPressureDevice:
    """模拟压力传感器设备"""
    
    def __init__(self):
        self.base_pressure = 500  # 基础压力值
        self.noise_level = 10
    
    def read_data(self) -> Dict[str, Any]:
        """读取压力数据"""
        # 模拟轻微的左右脚压力差异
        left_pressure = self.base_pressure + np.random.normal(0, self.noise_level)
        right_pressure = self.base_pressure + np.random.normal(0, self.noise_level)
        
        return {
            'left_foot': max(0, left_pressure),
            'right_foot': max(0, right_pressure),
            'timestamp': datetime.now().isoformat()
        }


class VideoStreamManager:
    """视频推流管理器"""
    
    def __init__(self, socketio=None):
        self.socketio = socketio
        self.device_index = None
        self.video_thread = None
        self.video_running = False
        
        # 用于异步编码的线程池和队列
        self.encoding_executor = ThreadPoolExecutor(max_workers=2)
        self.frame_queue = queue.Queue(maxsize=1)  # 只保留最新的一帧
        
        # 内存优化配置
        self.frame_skip_counter = 0
        self.FRAME_SKIP_RATIO = 1  # 每3帧发送1帧，减少网络和内存压力
        self.MAX_FRAME_SIZE = (640, 480)  # 进一步减小帧尺寸以节省内存
        self.MAX_MEMORY_USAGE = 200 * 1024 * 1024  # 200MB内存限制
        self.memory_check_counter = 0
        self.MEMORY_CHECK_INTERVAL = 50  # 每50帧检查一次内存
        
        # 读取RTSP配置
        self._load_rtsp_config()
    
    def _load_rtsp_config(self):
        """加载RTSP配置"""
        try:
            config = configparser.ConfigParser()
            config_path = os.path.join(os.path.dirname(__file__), '..', 'config.ini')
            config.read(config_path, encoding='utf-8')
            device_index_str = config.get('CAMERA', 'device_index', fallback='0')
            self.device_index = int(device_index_str) if device_index_str else 0
            logger.info(f'视频监控设备配置加载完成，设备号: {self.device_index}')
        except Exception as e:
            logger.error(f'视频监控设备配置失败: {e}')
            self.device_index = None
    
    def get_memory_usage(self):
        """获取当前进程内存使用量（字节）"""
        try:
            process = psutil.Process(os.getpid())
            return process.memory_info().rss
        except:
            return 0
    
    def async_encode_frame(self, frame, frame_count):
        """异步编码帧 - 内存优化版本"""
        try:
            # 内存检查
            self.memory_check_counter += 1
            if self.memory_check_counter >= self.MEMORY_CHECK_INTERVAL:
                self.memory_check_counter = 0
                current_memory = self.get_memory_usage()
                if current_memory > self.MAX_MEMORY_USAGE:
                    logger.warning(f"内存使用过高: {current_memory / 1024 / 1024:.2f}MB，强制清理")
                    gc.collect()
                    # 如果内存仍然过高，跳过此帧
                    if self.get_memory_usage() > self.MAX_MEMORY_USAGE:
                        del frame
                        return
            
            # 更激进的图像尺寸压缩以节省内存
            height, width = frame.shape[:2]
            target_width, target_height = self.MAX_FRAME_SIZE
            
            if width > target_width or height > target_height:
                # 计算缩放比例，保持宽高比
                scale_w = target_width / width
                scale_h = target_height / height
                scale = min(scale_w, scale_h)
                
                new_width = int(width * scale)
                new_height = int(height * scale)
                
                # 使用更快的插值方法减少CPU使用
                frame = cv2.resize(frame, (new_width, new_height), interpolation=cv2.INTER_AREA)
            
            # 优化JPEG编码参数：优先考虑速度和内存
            encode_param = [
                int(cv2.IMWRITE_JPEG_QUALITY), 50,  # 进一步降低质量以减少内存使用
                int(cv2.IMWRITE_JPEG_OPTIMIZE), 1,   # 启用优化
                int(cv2.IMWRITE_JPEG_PROGRESSIVE), 0  # 禁用渐进式以减少内存
            ]
            
            success, buffer = cv2.imencode('.jpg', frame, encode_param)
            if not success:
                logger.error('图像编码失败')
                return
                
            # 立即释放frame内存
            del frame
            
            jpg_as_text = base64.b64encode(buffer).decode('utf-8')
            
            # 立即释放buffer内存
            del buffer
            
            # 发送数据
            if self.socketio:
                self.socketio.emit('video_frame', {
                    'image': jpg_as_text, 
                    'frame_id': frame_count,
                    'timestamp': time.time()
                })
            
            # 立即释放base64字符串
            del jpg_as_text
            
        except Exception as e:
            logger.error(f'异步编码帧失败: {e}')
        finally:
            # 定期强制垃圾回收
            if self.memory_check_counter % 10 == 0:
                gc.collect()
    
    def frame_encoding_worker(self):
        """帧编码工作线程"""
        while self.video_running:
            try:
                # 从队列获取帧
                frame, frame_count = self.frame_queue.get(timeout=1)
                # 提交到线程池进行异步编码
                self.encoding_executor.submit(self.async_encode_frame, frame, frame_count)
            except queue.Empty:
                continue
            except Exception as e:
                 logger.error(f'帧编码工作线程异常: {e}')
    
    def generate_test_frame(self, frame_count):
        """生成测试帧"""
        width, height = 640, 480
        
        # 创建黑色背景
        frame = np.zeros((height, width, 3), dtype=np.uint8)
        
        # 添加动态元素
        timestamp = datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]
        
        # 添加时间戳
        cv2.putText(frame, timestamp, (10, 90), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 255), 2)
        
        # 添加帧计数
        cv2.putText(frame, f'TEST Frame: {frame_count}', (10, 120), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 255), 2)
        
        # 添加移动的圆形
        center_x = int(320 + 200 * np.sin(frame_count * 0.1))
        center_y = int(240 + 100 * np.cos(frame_count * 0.1))
        cv2.circle(frame, (center_x, center_y), 30, (255, 0, 0), -1)
        
        # 添加变化的矩形
        rect_size = int(50 + 30 * np.sin(frame_count * 0.05))
        cv2.rectangle(frame, (500, 200), (500 + rect_size, 200 + rect_size), (0, 0, 255), -1)
        
        return frame
    
    def generate_video_frames(self):
        """生成视频监控帧"""
        frame_count = 0
        error_count = 0
        use_test_mode = False
        last_frame_time = time.time()
        
        logger.debug(f'开始生成视频监控帧，设备号: {self.device_index}')
        
        try:
            cap = cv2.VideoCapture(self.device_index)
            if not cap.isOpened():
                logger.debug(f'无法打开视频监控流: {self.device_index}，切换到测试模式')
                use_test_mode = True
                if self.socketio:
                    self.socketio.emit('video_status', {'status': 'started', 'message': '使用测试视频源'})              
            else:
                # 最激进的实时优化设置
                cap.set(cv2.CAP_PROP_BUFFERSIZE, 0)  # 完全禁用缓冲区
                cap.set(cv2.CAP_PROP_FPS, 60)  # 提高帧率到60fps
                cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'))  # MJPEG编码
                # 设置更低的分辨率以减少处理时间
                cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
                cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
                logger.debug('视频监控流已打开，开始推送帧（激进实时模式）')
                if self.socketio:
                    self.socketio.emit('video_status', {'status': 'started', 'message': '使用视频监控视频源（激进实时模式）'})
                
            self.video_running = True
            
            # 启动帧编码工作线程
            encoding_thread = threading.Thread(target=self.frame_encoding_worker)
            encoding_thread.daemon = True
            encoding_thread.start()
            
            while self.video_running:
                if use_test_mode:
                    # 使用测试模式生成帧
                    frame = self.generate_test_frame(frame_count)
                    ret = True
                else:
                    # 使用视频监控流，添加帧跳过机制减少延迟
                    ret, frame = cap.read()
                    if not ret:
                        error_count += 1
                        logger.debug(f'视频监控读取帧失败（第{error_count}次），尝试重连...')
                        if 'cap' in locals():
                            cap.release()
                        
                        if error_count > 5:
                            logger.debug('视频监控连接失败次数过多，切换到测试模式')
                            use_test_mode = True
                            if self.socketio:
                                self.socketio.emit('video_status', {'status': 'switched', 'message': '已切换到测试视频源'})
                            continue
                            
                        # 立即重连，不等待
                        cap = cv2.VideoCapture(self.device_index)
                        if cap.isOpened():
                            # 重连时应用相同的激进实时设置
                            cap.set(cv2.CAP_PROP_BUFFERSIZE, 0)
                            cap.set(cv2.CAP_PROP_FPS, 60)
                            cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'))
                            cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
                            cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
                        continue
                        
                    error_count = 0  # 重置错误计数
                    
                    # 内存优化的帧跳过策略
                    # 减少跳帧数量，避免过度内存使用
                    skip_count = 0
                    while skip_count < 3:  # 减少到最多跳过3帧
                        temp_ret, temp_frame = cap.read()
                        if temp_ret:
                            # 立即释放之前的帧
                            if 'frame' in locals():
                                del frame
                            frame = temp_frame
                            skip_count += 1
                        else:
                            break
                    
                    # 降低帧率以减少内存压力
                    current_time = time.time()
                    if current_time - last_frame_time < 1/20:  # 降低到20fps最大频率
                        continue
                    last_frame_time = current_time
                
                frame_count += 1
                
                # 实现帧跳过以减少内存和网络压力
                self.frame_skip_counter += 1
                
                if self.frame_skip_counter % (self.FRAME_SKIP_RATIO + 1) != 0:
                    # 跳过此帧，立即释放内存
                    del frame
                    continue
                
                try:
                    # 将帧放入队列进行异步处理
                    try:
                        # 非阻塞方式放入队列，如果队列满了就丢弃旧帧
                        self.frame_queue.put_nowait((frame.copy(), frame_count))
                    except queue.Full:
                        # 队列满了，清空队列并放入新帧
                        try:
                            old_frame, _ = self.frame_queue.get_nowait()
                            del old_frame  # 立即释放旧帧内存
                        except queue.Empty:
                            pass
                        self.frame_queue.put_nowait((frame.copy(), frame_count))
                    
                    # 立即释放原始帧内存
                    del frame
                    
                    if frame_count % 60 == 0:  # 每60帧记录一次
                        
                        # 定期强制垃圾回收
                        gc.collect()
                        
                except Exception as e:
                    logger.error(f'帧队列处理失败: {e}')
                    
        except Exception as e:
            # logger.error(f'监控视频推流异常: {e}')
            if self.socketio:
                self.socketio.emit('video_status', {'status': 'error', 'message': f'推流异常: {str(e)}'})
        finally:
            if 'cap' in locals():
                cap.release()
            self.video_running = False      
            
    
    def start_video_stream(self):
        """启动视频监控推流"""
        try:
            if self.video_thread and self.video_thread.is_alive():
                logger.warning('视频监控线程已在运行')
                return {'status': 'already_running', 'message': '视频监控已在运行'}
            
            if not self.device_index:
                logger.error('视频监控相机未配置')
                return {'status': 'error', 'message': '视频监控相机未配置'}
                
            logger.info(f'视频启动监控线程，设备号: {self.device_index}')
            self.video_thread = threading.Thread(target=self.generate_video_frames)
            self.video_thread.daemon = True
            self.video_thread.start()   
            self.video_running = True       
            
            logger.info('视频监控线程已启动')
            return {'status': 'started', 'message': '视频监控线程已启动'}
            
        except Exception as e:
            logger.error(f'视频监控线程启动失败: {e}')
            return {'status': 'error', 'message': f'视频监控线程启动失败: {str(e)}'}
    
    def stop_video_stream(self):
        """停止视频监控推流"""
        try:
            self.video_running = False
            logger.info('视频监控推流已停止')
            return {'status': 'stopped', 'message': '视频监控推流已停止'}
            
        except Exception as e:
            logger.error(f'停止视频监控推流失败: {e}')
            return {'status': 'error', 'message': f'停止失败: {str(e)}'}
    
    def is_streaming(self):
        """检查是否正在推流"""
        return self.video_running
    
    def get_stream_status(self):
        """获取推流状态"""
        return {
            'running': self.video_running,
            'device_index': self.device_index,
            'thread_alive': self.video_thread.is_alive() if self.video_thread else False
        }
   
    
    def _collect_head_pose_data(self) -> Dict[str, Any]:
        """采集头部姿态数据（从IMU设备获取）"""
        try:
            # 模拟IMU头部姿态数据
            head_pose = {
                'roll': np.random.uniform(-30, 30),
                'pitch': np.random.uniform(-30, 30),
                'yaw': np.random.uniform(-180, 180),
                'acceleration': {
                    'x': np.random.uniform(-2, 2),
                    'y': np.random.uniform(-2, 2),
                    'z': np.random.uniform(8, 12)
                },
                'gyroscope': {
                    'x': np.random.uniform(-5, 5),
                    'y': np.random.uniform(-5, 5),
                    'z': np.random.uniform(-5, 5)
                },
                'timestamp': datetime.now().isoformat()
            }
            return head_pose
        except Exception as e:
            logger.error(f'头部姿态数据采集失败: {e}')
            return None
    
    def _collect_body_pose_data(self) -> Dict[str, Any]:
        """采集身体姿态数据（从FemtoBolt深度相机获取）"""
        try:
            # 模拟身体姿态关键点数据
            body_pose = {
                'keypoints': {
                    'head': {'x': 320, 'y': 100, 'confidence': 0.95},
                    'neck': {'x': 320, 'y': 150, 'confidence': 0.92},
                    'left_shoulder': {'x': 280, 'y': 180, 'confidence': 0.88},
                    'right_shoulder': {'x': 360, 'y': 180, 'confidence': 0.90},
                    'left_elbow': {'x': 250, 'y': 220, 'confidence': 0.85},
                    'right_elbow': {'x': 390, 'y': 220, 'confidence': 0.87},
                    'left_wrist': {'x': 220, 'y': 260, 'confidence': 0.82},
                    'right_wrist': {'x': 420, 'y': 260, 'confidence': 0.84},
                    'spine': {'x': 320, 'y': 250, 'confidence': 0.93},
                    'left_hip': {'x': 300, 'y': 350, 'confidence': 0.89},
                    'right_hip': {'x': 340, 'y': 350, 'confidence': 0.91},
                    'left_knee': {'x': 290, 'y': 450, 'confidence': 0.86},
                    'right_knee': {'x': 350, 'y': 450, 'confidence': 0.88},
                    'left_ankle': {'x': 285, 'y': 550, 'confidence': 0.83},
                    'right_ankle': {'x': 355, 'y': 550, 'confidence': 0.85}
                },
                'balance_score': np.random.uniform(0.6, 1.0),
                'center_of_mass': {'x': 320, 'y': 350},
                'timestamp': datetime.now().isoformat()
            }
            return body_pose
        except Exception as e:
            logger.error(f'身体姿态数据采集失败: {e}')
            return None
    
    def _capture_body_image(self, data_dir: Path) -> Optional[str]:
        """采集身体视频截图（从FemtoBolt深度相机获取）"""
        try:
            # 模拟从FemtoBolt深度相机获取图像
            # 实际实现中应该从深度相机获取真实图像
            image = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
            
            # 保存图片
            image_path = data_dir / 'body_image.jpg'
            cv2.imwrite(str(image_path), image)
            
            return str(image_path.relative_to(Path.cwd()))
        except Exception as e:
            logger.error(f'身体截图保存失败: {e}')
            return None
    
    def _collect_foot_pressure_data(self) -> Dict[str, Any]:
        """采集足部压力数据（从压力传感器获取）"""
        try:
            # 模拟压力传感器数据
            pressure_data = {
                'left_foot': {
                    'heel': np.random.uniform(0, 100),
                    'arch': np.random.uniform(0, 50),
                    'ball': np.random.uniform(0, 80),
                    'toes': np.random.uniform(0, 60),
                    'total_pressure': 0
                },
                'right_foot': {
                    'heel': np.random.uniform(0, 100),
                    'arch': np.random.uniform(0, 50),
                    'ball': np.random.uniform(0, 80),
                    'toes': np.random.uniform(0, 60),
                    'total_pressure': 0
                },
                'balance_ratio': 0,
                'timestamp': datetime.now().isoformat()
            }
            
            # 计算总压力和平衡比例
            left_total = sum(pressure_data['left_foot'][key] for key in ['heel', 'arch', 'ball', 'toes'])
            right_total = sum(pressure_data['right_foot'][key] for key in ['heel', 'arch', 'ball', 'toes'])
            
            pressure_data['left_foot']['total_pressure'] = left_total
            pressure_data['right_foot']['total_pressure'] = right_total
            
            if left_total + right_total > 0:
                pressure_data['balance_ratio'] = left_total / (left_total + right_total)
            
            return pressure_data
        except Exception as e:
            logger.error(f'足部压力数据采集失败: {e}')
            return None
    
    def _capture_foot_image(self, data_dir: Path) -> Optional[str]:
        """采集足部监测视频截图（从摄像头获取）"""
        try:
            if self.camera is not None:
                ret, frame = self.camera.read()
                if ret:
                    # 保存图片
                    image_path = data_dir / 'foot_image.jpg'
                    cv2.imwrite(str(image_path), frame)
                    return str(image_path.relative_to(Path.cwd()))
            
            # 如果摄像头不可用，生成模拟图像
            image = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
            image_path = data_dir / 'foot_image.jpg'
            cv2.imwrite(str(image_path), image)
            
            return str(image_path.relative_to(Path.cwd()))
        except Exception as e:
            logger.error(f'足部截图保存失败: {e}')
            return None
    
    def _generate_foot_pressure_image(self, data_dir: Path) -> Optional[str]:
        """生成足底压力数据图（从压力传感器数据生成）"""
        try:
            # 创建压力分布热力图
            fig_width, fig_height = 400, 600
            pressure_map = np.zeros((fig_height, fig_width, 3), dtype=np.uint8)
            
            # 模拟左脚压力分布
            left_foot_x = fig_width // 4
            left_foot_y = fig_height // 2
            
            # 模拟右脚压力分布
            right_foot_x = 3 * fig_width // 4
            right_foot_y = fig_height // 2
            
            # 绘制压力点（用不同颜色表示压力大小）
            for i in range(20):
                x = np.random.randint(left_foot_x - 50, left_foot_x + 50)
                y = np.random.randint(left_foot_y - 100, left_foot_y + 100)
                pressure = np.random.randint(0, 255)
                cv2.circle(pressure_map, (x, y), 5, (0, pressure, 255 - pressure), -1)
                
                x = np.random.randint(right_foot_x - 50, right_foot_x + 50)
                y = np.random.randint(right_foot_y - 100, right_foot_y + 100)
                pressure = np.random.randint(0, 255)
                cv2.circle(pressure_map, (x, y), 5, (0, pressure, 255 - pressure), -1)
            
            # 保存图片
            image_path = data_dir / 'foot_data_image.jpg'
            cv2.imwrite(str(image_path), pressure_map)
            
            return str(image_path.relative_to(Path.cwd()))
        except Exception as e:
            logger.error(f'足底压力数据图生成失败: {e}')
            return None
    
    def _save_screen_image(self, data_dir: Path, screen_image_base64: str) -> Optional[str]:
        """保存屏幕录制截图（从前端传入的base64数据）"""
        try:
            # 解码base64数据
            if screen_image_base64.startswith('data:image/'):
                # 移除data:image/jpeg;base64,前缀
                base64_data = screen_image_base64.split(',')[1]
            else:
                base64_data = screen_image_base64
            
            # 解码并保存图片
            image_data = base64.b64decode(base64_data)
            image_path = data_dir / 'screen_image.jpg'
            
            with open(image_path, 'wb') as f:
                f.write(image_data)
            
            return str(image_path.relative_to(Path.cwd()))
        except Exception as e:
            logger.error(f'屏幕截图保存失败: {e}')
            return None